10#ifndef ICAROUS_CFS_ROTORSIM_H
11#define ICAROUS_CFS_ROTORSIM_H
18#include "cfe_platform_cfg.h"
25#include "sch_msgids.h"
27#define ROTORSIM_STARTUP_INF_EID 0
28#define ROTORSIM_COMMAND_ERR_EID 1
30#define ROTORSIM_PIPE_DEPTH 100
31#define ROTORSIM_PIPE_NAME "ROTORSIM_PIPE"
32#define ROTORSIM_MAJOR_VERSION 1
33#define ROTORSIM_MINOR_VERSION 0
52 double externalCmdV[3];
53 double externalCmdP[3];
112void Rotorsim_GetInputs(
void);
114void Rotorsim_GetOutputs(
void);
116void timer_callback(uint32_t timerId);
118bool ComputeOffSetPositionOnPlan(
double position[],
int currentLeg,
double output[]);
120void GetCorrectIntersectionPoint(
double _wpA[],
double _wpB[],
double heading,
double r,
double output[]);
122double distance(
double x1,
double y1,
double x2,
double y2);
Icarous common message definitions.
Message ID definition of common icarous messages.
EXTERN position_t position
position message
Definition: arducopter.h:225
EXTERN attitude_t attitude
attitude message
Definition: arducopter.h:227
rotorsimAppData_t rotorsimAppData
global variable to hold app data
Definition: rotorsim.h:101
void Rotorsim_AppInitData(RotorsimTable_t *TblPtr)
Definition: rotorsim.c:95
void Rotorsim_ProcessPacket(void)
Definition: rotorsim.c:117
int32_t RotorsimTableValidationFunc(void *TblPtr)
Definition: rotorsim.c:171
void Rotorsim_AppInit(void)
Definition: rotorsim.c:43
void Rotorsim_AppMain(void)
void Rotorsim_AppCleanUp(void)
Definition: rotorsim.c:113
Definition of rotorcraft simulation table.
Rotorsim table data.
Definition: rotorsim_table.h:21
message encoding flight plan information
Struct to hold rotor sim app data.
Definition: rotorsim.h:48
CFE_SB_MsgPtr_t Rotorsim_MsgPtr
Pointer to SB message.
Definition: rotorsim.h:50
double offsetdist
Moving reference point on controller.
Definition: rotorsim.h:68
bool startMission
Start mission.
Definition: rotorsim.h:59
double time
time
Definition: rotorsim.h:67
uint32_t velcount
Velocity counter.
Definition: rotorsim.h:69
bool passive
Passive mode.
Definition: rotorsim.h:58
bool flightplanSent
flight plan send status
Definition: rotorsim.h:62
uint32_t timerId
Timer id.
Definition: rotorsim.h:66
bool velocityControl
velocity control mode
Definition: rotorsim.h:61
flightplan_t flightPlan
Input flight plan.
Definition: rotorsim.h:65
bool flightplanReceived
Received flightplan status.
Definition: rotorsim.h:63
RotorsimTable_t Rotorsim_Tbl
Rotor sim table;.
Definition: rotorsim.h:51
int nextWP
Next waypoint index.
Definition: rotorsim.h:64
bool positionControl
position control mode
Definition: rotorsim.h:60
CFE_SB_PipeId_t Rotorsim_Pipe
Pipe variable.
Definition: rotorsim.h:49